YASKAWA AC Drive 1000-Series Option

Transcription

1 YASKAWA AC Drive 1000-Series Option PROFIBUS-DP Installation Manual Type: SI-P3/V, SI-P3/T To properly use the product, read this manual thoroughly and retain for easy reference, inspection, and maintenance. Ensure the end user receives this manual PROFIBUS-DP SI-P3/V, SI-P3/T MANUAL NO. TOBP C D

2 Copyright 2007 YASKAWA ELECTRIC CORPORATION All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of Yaskawa. No patent liability is assumed with respect to the use of the information contained herein. Moreover, because Yaskawa is constantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice. Every precaution has been taken in the preparation of this manual. Yaskawa assumes no responsibility for errors or omissions. Neither is any liability assumed for damages resulting from the use of the information contained in this publication. 2 YASKAWA ELECTRIC TOBP C D 1000-Series Option SI-P3/V, SI-P3/T Installation Manual

3 Table of Contents 1 PREFACE AND SAFETY PRODUCT OVERVIEW RECEIVING PROFIBUS-DP OPTION COMPONENTS INSTALLATION PROCEDURE RELATED PARAMETERS PROFIBUS-DP OPTION DATA AND I/O MAPS TROUBLESHOOTING EUROPEAN STANDARDS SPECIFICATIONS YASKAWA ELECTRIC TOBP C D 1000-Series Option SI-P3/V, SI-P3/T Installation Manual 3

4 1 Preface and Safety 1 Preface and Safety Yaskawa manufactures products used as components in a wide variety of industrial systems and equipment. The selection and application of Yaskawa products remain the responsibility of the equipment manufacturer or end user. Yaskawa accepts no responsibility for the way its products are incorporated into the final system design. Under no circumstances should any Yaskawa product be incorporated into any product or design as the exclusive or sole safety control. Without exception, all controls should be designed to detect faults dynamically and fail safely under all circumstances. All systems or equipment designed to incorporate a product manufactured by Yaskawa must be supplied to the end user with appropriate warnings and instructions as to the safe use and operation of that part. Any warnings provided by Yaskawa must be promptly provided to the end user. Yaskawa offers an express warranty only as to the quality of its products in conforming to standards and specifications published in the Yaskawa manual. NO OTHER WARRANTY, EXPRESS OR IMPLIED, IS OFFERED. Yaskawa assumes no liability for any personal injury, property damage, losses, or claims arising from misapplication of its products. 4 YASKAWA ELECTRIC TOBP C D 1000-Series Option SI-P3/V, SI-P3/T Installation Manual

5 1 Preface and Safety Applicable Documentation The following manuals are available for the PROFIBUS-DP Option: Option Unit Yaskawa AC Drive 1000-Series Option PROFIBUS-DP Installation Manual Manual No.: TOBP C (this book) Yaskawa AC Drive 1000-Series Option PROFIBUS-DP Technical Manual Manual No.: SIEP C Read this manual first. The installation manual is packaged with the PROFIBUS-DP Option and contains a basic overview of wiring, settings, functions, and fault diagnoses. The technical manual contains detailed information and command registers. To obtain the technical manual access these sites: U.S.: Europe: Japan: Other areas: contact a Yaskawa representative. YASKAWA ELECTRIC TOBP C D 1000-Series Option SI-P3/V, SI-P3/T Installation Manual 5

6 Freq Reference FWD / REV Sel Output Freq Output Current Selected Monitor Monitor Verify SetUpGuide Parameter Set Auto-Tuning neutre soit relié à la terre, pour la série 400V. (Hz) (Hz) (A) (V) to ground the supply neutral for 400V class. Freq Reference FWD / REV Sel Output Freq Output Current Selected Monitor Monitor Verify SetUpGuide Parameter Set Auto-Tuning (Hz) (Hz) (A) (V) to ground the supply neutral for 400V class. neutre soit relié à la terre, pour la série 400V. 1 Preface and Safety Yaskawa Drive (V1000) STOP V1000 WARNING Risk of electric shock. Read manual before installing. Wait 5 minutes for capacitor discharge after disconnecting power supply. To conform to requirements, make sure Risque de décharge AVERTISSEMENT électrique. Lire le manuel avant l'installation. Attendre 5 minutes après la coupure de l'alimentation, pour permettre la décharge des condensateurs. Pour répondre aux exigences, s assurer que le Yaskawa AC Drive-V1000 Technical Manual Yaskawa AC Drive-V1000 Quick Start Guide To obtain instruction manuals for Yaskawa products access these sites: U.S.: Europe: Japan: Other areas: contact a Yaskawa representative. For questions, contact the local Yaskawa sales office or the nearest Yaskawa representative. Yaskawa Drive (T1000V) STOP T1000V WARNING Risk of electric shock. Read manual before installing. Wait 5 minutes for capacitor discharge after disconnecting power supply. To conform to requirements, make sure Risque de décharge AVERTISSEMENT électrique. Lire le manuel avant l'installation. Attendre 5 minutes après la coupure de l'alimentation, pour permettre la décharge des condensateurs. Pour répondre aux exigences, s assurer que le Yaskawa AC Drive-T1000V Technical Manual Yaskawa AC Drive-T1000V Safety Precautions This manual describes installation, wiring, operation procedures, functions, troubleshooting, maintenance, and inspections to perform before operation. To obtain this manual, contact the local Yaskawa sales office or the nearest Yaskawa representative. This guide is packaged together with the product. Covers safety precautions, areas to check upon receiving your new T1000V, and standards compliance. Terms Note: Drive: PROFIBUS-DP Option: Indicates supplemental information that is not related to safety messages. Yaskawa AC Drive-V1000 Series Yaskawa AC Drive-T1000V Series Yaskawa AC Drive 1000-Series Option PROFIBUS-DP (SI-P3/V, SI-P3/T) 6 YASKAWA ELECTRIC TOBP C D 1000-Series Option SI-P3/V, SI-P3/T Installation Manual

7 1 Preface and Safety Registered Trademarks PROFIBUS-DP is a registered trademark of PROFIBUS and PROFINET International. Other company names and product names listed in this manual are registered trademarks of those companies. Supplemental Safety Information Read and understand this manual before installing, operating, or servicing this option unit. The option unit must be installed according to this manual and local codes. The following conventions are used to indicate safety messages in this manual. Failure to heed these messages could result in serious or possibly even fatal injury or damage to the products or to related equipment and systems. DANGER Indicates a hazardous situation, which, if not avoided, will result in death or serious injury. W ARNING Indicates a hazardous situation, which, if not avoided, could result in death or serious injury. CAUTION Indicates a hazardous situation, which, if not avoided, could result in minor or moderate injury. Indicates an equipment damage message. NOTICE YASKAWA ELECTRIC TOBP C D 1000-Series Option SI-P3/V, SI-P3/T Installation Manual 7

8 1 Preface and Safety General Safety General Precautions The diagrams in this section may include option units and drives without covers or safety shields to illustrate details. Be sure to reinstall covers or shields before operating any devices. The option board should be used according to the instructions described in this manual. Any illustrations, photographs, or examples used in this manual are provided as examples only and may not apply to all products to which this manual is applicable. The products and specifications described in this manual or the content and presentation of the manual may be changed without notice to improve the product and/or the manual. When ordering a new copy of the manual due to damage or loss, contact your Yaskawa representative or the nearest Yaskawa sales office and provide the manual number shown on the front cover. Heed the safety messages in this manual. DANGER Failure to comply will result in death or serious injury. The operating company is responsible for any injuries or equipment damage resulting from failure to heed the warnings in this manual. NOTICE Do not modify the drive or option circuitry. Failure to comply could result in damage to the drive or option and will void warranty. YASKAWA is not responsible for any modification of the product made by the user. This product must not be modified. Do not expose the drive to halogen group disinfectants. Failure to comply may cause damage to the electrical components in the option unit. Do not pack the drive in wooden materials that have been fumigated or sterilized. Do not sterilize the entire package after the product is packed. 8 YASKAWA ELECTRIC TOBP C D 1000-Series Option SI-P3/V, SI-P3/T Installation Manual

9 1 Preface and Safety Option Unit Label Warnings Warning information is displayed on the option unit as shown in the figure below. Follow all warnings and safety instructions when using the product. When using the drive in an area that may require displaying warning information in Japanese or Chinese, a sticker is provided with the PROFIBUS-DP Option. This sticker can be placed over the English and French warnings on the front of the PROFIBUS-DP Option. Figure 1 V1000 WARNING Risk of electric shock. Read manual before installing. Wait 5 minutes for capacitor discharge after disconnecting power supply. To conform to requirements, make sure to ground the supply neutral for 400V class. Risque de decharge electrique. Lire le manuel avant l'installation. Attendre 5 minutes apres la coupure de l'alimentation, pour permettre la decharge des condensateurs. Pour repondre aux exigences, s assurer que le neutre soit relie a la terre, pour la serie 400V. AVERTISSEMENT Warning information Warning Contents Figure 1 Warning Labels (example: SI-P3/V) WARNING Risk of electric shock. Read manual before installing. Wait 5 minutes for capacitor discharge after disconnecting power supply. To conform to requirements, make sure to ground the supply neutral for 400V class. Risque de decharge AVERTISSEMENT electrique. Lire le manuel avant l'installation. Attendre 5 minutes apres la coupure de l'alimentation, pour permettre la decharge des condensateurs. Pour repondre aux exigences, s assurer que le neutre soit relie a la terre, pour la serie 400V. YASKAWA ELECTRIC TOBP C D 1000-Series Option SI-P3/V, SI-P3/T Installation Manual 9

10 2 Product Overview 2 Product Overview About This Product PROFIBUS is an open digital communication system supporting a wide range of fast, timecritical applications. PROFIBUS-DP (Decentralized Periphery) is one of the three PROFIBUS variants. DP is dedicated to fast data communication between systems and peripherals at a field level. This PROFIBUS-DP Option connects a drive to a field network using the PROFIBUS-DP protocol. PROFIBUS-DP is included into the European Fieldbus Standard EN The network is primarily used in process and factory automation. By installing the PROFIBUS-DP Option to a drive, it is possible to do the following from a PROFIBUS-DP master device: operate the drive monitor the operation status of the drive change parameter settings Applicable Models The PROFIBUS-DP Option can be used with the drive models in Table 1. Table 1 Applicable Models Option Unit Drive Software Version <1> SI-P3/V CIMR-V A A 1010 SI-P3/T CIMR-T V 6000 and later <1> See PRG on the drive nameplate for the software version number. 10 YASKAWA ELECTRIC TOBP C D 1000-Series Option SI-P3/V, SI-P3/T Installation Manual

11 3 Receiving 3 Receiving Please perform the following tasks after receiving the PROFIBUS-DP Option: Inspect the PROFIBUS-DP Option for damage. If the PROFIBUS-DP Option appears damaged upon receipt, contact the shipper immediately. Verify receipt of the correct model by checking the information on the nameplate (see Figure 2). If you receive the wrong model or the PROFIBUS-DP Option does not function properly, contact your supplier. Contents and Packaging Table 2 Contents of Package Description: Option Unit Ground Cables Warning Labels Installation Manual (This book) _ MANUAL Quantity: Tool Requirements A Phillips screwdriver (M3, M3.5 to M6 <1>) metric or (#1, #2 <1>) U.S. standard size is required to install the PROFIBUS-DP Option. <1> Screw sizes vary by drive capacity. Select a screwdriver that matches the drive capacity. Note: Tools required to prepare PROFIBUS cables for wiring are not listed in this manual. YASKAWA ELECTRIC TOBP C D 1000-Series Option SI-P3/V, SI-P3/T Installation Manual 11

12 4 PROFIBUS-DP Option Components 4 PROFIBUS-DP Option Components PROFIBUS-DP Option Figure 2 E PROFIBUS-DP with cover attached A Underside PROFIBUS-DP with cover removed F D RUN ERR COMM BF B G N H C J SI-P3 FE I J K M L A LED (Comm: green) <1> H Nameplate B LED (BF: red) <1> I Function Earth cable connection (FE) C Option cover J Mounting clip D LED (ERR: red) <1> K Cable <2> E LED (RUN: green) <1> L Through-hole for cable F PROFIBUS-DP PCB M Communication cable connector (9-pin D-SUB) G Attachment screw hole for N Option board connector (CN5) option cover <1> For details on the LEDs, refer to PROFIBUS-DP Option LED Display on page 15 and Understanding LED Display on page 15. <2> Cables are not connected to the PROFIBUS-DP Option and are packaged separately in the box. Figure 2 Option Unit 12 YASKAWA ELECTRIC TOBP C D 1000-Series Option SI-P3/V, SI-P3/T Installation Manual

13 4 PROFIBUS-DP Option Components Dimensions The installed PROFIBUS-DP Option adds 27 mm (1.06 in.) to the total depth of the drive. (Figure 3) Figure 3 27 mm (1.06 in.) Figure 3 Dimensions YASKAWA ELECTRIC TOBP C D 1000-Series Option SI-P3/V, SI-P3/T Installation Manual 13

14 4 PROFIBUS-DP Option Components Communication connector The drive has a 9 pin D-sub connector for installing the option card. Once installed, the drive can connect to a PROFIBUS network. Figure 4 Figure 4 Communication Connector Location Table 3 Communication Connector (9-pin D-SUB) PROFIBUS Connector Bottom View Pin Signal Description 1 Shield Connected to the metal-shell (no direct FG-connection) 2 3 RxD/TxD-P Receive/Transmit data; line B (red) 4 CNTR-P Control signal for repeaters (direction control) 5 DGND Data ground (reference voltage to VP) 6 VP Power supply output for bus termination (for termination resistor) 7 8 RxD/TxD-N Receive/Transmit data; line A (green) 9 14 YASKAWA ELECTRIC TOBP C D 1000-Series Option SI-P3/V, SI-P3/T Installation Manual

15 4 PROFIBUS-DP Option Components PROFIBUS-DP Option LED Display LED RUN (Power) ERR (Option Error) COMM (Communication Status) BF (PROFIBUS-DP Error) Color Green Red Green Red Display Status ON OFF ON Flashing Table 4 LED Display Communication Status Power is on Power is off PROFIBUS-DP Option error Drive connection error Table 5 Understanding LED Display Meaning Power is being properly supplied to PROFIBUS-DP Option, and PROFIBUS-DP Option has completed its hardware selfdiagnostics check The drive has no power supply PROFIBUS-DP Option and drive are not connected properly and/or there is no power supplied to the PROFIBUS-DP Option An internal, self-diagnostic error occurred in the PROFIBUS-DP Option Self-diagnostics error occurred in the PROFIBUS-DP Option Connection error between PROFIBUS-DP Option and drive. This includes node address setting errors to parameter F6-30 on the drive side OFF Normal operation Drive and PROFIBUS-DP Option are properly connected ON OFF ON Flashing OFF Communication connected No data exchange Waiting for communication procedure setting Communication setting error Normal operation Normal send/receive between PROFIBUS-DP Option and PROFIBUS-DP master There is a problem establishing communication between PROFIBUS-DP Option and the PROFIBUS-DP master Communication-related parameters are being set or initialized by the PROFIBUS-DP master. Communication parameter error from PROFIBUS-DP master LED is off once the PROFIBUS-DP master is finished setting communication-related parameters LED RUN ERR COMM BF Communication Status No power Possible Cause The drive has no power PROFIBUS-DP Option is not properly connected to the drive, and therefore is not receiving enough power Solution Check all wiring to the drive, then turn the power on Shut the drive off and check that the PROFIBUS-DP Option is properly connected Turn the power back on again YASKAWA ELECTRIC TOBP C D 1000-Series Option SI-P3/V, SI-P3/T Installation Manual 15

16 4 PROFIBUS-DP Option Components LED RUN ERR COMM BF Communication Status Checking connection with the drive Waiting for data from the master PROFIBUS-DP Option Selfdiagnostics error Problem connecting to the drive Waiting for data from the master device Data is incorrect or PROFIBUS-DP Option timed out waiting for data Possible Cause PROFIBUS-DP Option is reading the node address or parameter configuration Waiting for initial input data from master device The PROFIBUS-DP Option is damaged Problem initializing the drive and PROFIBUS- DP Option Incorrect node address Waiting for data from the master device (Set_Parm_Message or Chk_Cfg_Message) The communication procedure in the master is set incorrectly Solution Cycle power to the drive. If the LED status does not change, replace the PROFIBUS-DP Option Cycle power to the drive. If the LED status does not change, replace the PROFIBUS-DP Option Check the node address setting in the drive (parameter F6-10) Check the network settings in the master Make sure the master device is operating normally Check the terminal resistance settings on the data line Look for any problems with the data line, or if the connector Check that the data lines are properly connected to the drive Check the communication procedure settings in the master Sending or receiving data : On / : Flashing / : Off Setting Node Address Set drive parameter F6-30 to a unique node address (range 0 to 125) on the network. 16 YASKAWA ELECTRIC TOBP C D 1000-Series Option SI-P3/V, SI-P3/T Installation Manual

17 5 Installation Procedure 5 Installation Procedure Section Safety DANGER Electrical Shock Hazard Do not connect or disconnect wiring while the power is on. Failure to comply will result in death or serious injury. Disconnect all power to the drive, wait at least five minutes after all indicators are off, measure the DC bus voltage to confirm safe level, and check for unsafe voltages before servicing to prevent electric shock. The internal capacitor remains charged even after the power supply is turned off. The charge indicator LED will extinguish when the DC bus voltage is below 50 Vdc. W ARNING Electrical Shock Hazard Do not remove option board cover while the power is on. Failure to comply could result in death or serious injury. The diagrams in this section may include option units and drives without covers or safety shields to show details. Be sure to reinstall covers or shields before operating any devices. The option board should be used according to the instructions described in this manual. Do not allow unqualified personnel to use equipment. Failure to comply could result in death or serious injury. Maintenance, inspection, and replacement of parts must be performed only by authorized personnel familiar with installation, adjustment, and maintenance of this product. Do not use damaged wires, place excessive stress on wiring, or damage the wire insulation. Failure to comply could result in death or serious injury. YASKAWA ELECTRIC TOBP C D 1000-Series Option SI-P3/V, SI-P3/T Installation Manual 17

18 5 Installation Procedure NOTICE Damage to Equipment Observe proper electrostatic discharge procedures (ESD) when handling the option unit, drive, and circuit boards. Failure to comply may result in ESD damage to circuitry. Never shut the power off while the drive is outputting voltage. Failure to comply may cause the application to operate incorrectly or damage the drive. Do not operate damaged equipment. Failure to comply may cause further damage to the equipment. Do not connect or operate any equipment with visible damage or missing parts. Do not use unshielded cable for control wiring. Failure to comply may cause electrical interference resulting in poor system performance. Use shielded twisted-pair wires and ground the shield to the ground terminal of the drive. Properly connect all pins and connectors. Failure to comply may prevent proper operation and possibly damage equipment. Check wiring to ensure that all connections are correct after installing the option unit and connecting any other devices. Failure to comply may result in damage to the option unit. Prior to Installing the Option Prior to installing the option, wire the drive, make necessary connections to the drive terminals, and verify that the drive functions normally without the option installed. Refer to the Quick Start Guide packaged with the drive for information on wiring and connecting the drive. 18 YASKAWA ELECTRIC TOBP C D 1000-Series Option SI-P3/V, SI-P3/T Installation Manual

19 5 Installation Procedure Installing the Option Refer to the instructions below to install the option. DANGER! Electrical Shock Hazard. Do not connect or disconnect wiring while the power is on. Failure to comply could result in death or serious injury. Before installing the option, disconnect all power to the drive. The internal capacitor remains charged even after the power supply is turned off. The charge indicator LED will extinguish when the DC bus voltage is below 50 Vdc. To prevent electric shock, wait at least five minutes after all indicators are off and measure the DC bus voltage level to confirm safe level. 1. Shut off power to the drive, wait at least five minutes after confirming the DC bus voltage is safe, then loosen the screw that fastens the front cover in place and remove the front cover. This drive front cover will be replaced by the option cover. Cover removal varies depending on drive size. NOTICE: Damage to Equipment. Observe proper electrostatic discharge procedures (ESD) when handling the option, drive, and circuit boards. Failure to comply may result in ESD damage to circuitry. Figure 5 V Figure 5 Remove Front Cover 2. The remaining installation steps differ based on drive model. Find the drive model number on the drive nameplate and refer to the step indicated in Table 6 based on your model number. Table 6 Installation Steps Based on Drive Model Enclosure Type Drive Model Proceed to Step Page IP20/Open-Chassis CIMR-V A B IP20/NEMA Type 1 <1> CIMR-V A F <1> Installing the option on an IP20/NEMA Type 1 enclosure drive voids NEMA Type 1 protection while maintaining IP20 conformity. YASKAWA ELECTRIC TOBP C D 1000-Series Option SI-P3/V, SI-P3/T Installation Manual 19

20 5 Installation Procedure Figure 6 3. For IP20/Open-Chassis models CIMR-V A B, remove the bottom cover of the drive by applying pressure to the tabs on each side of the bottom cover. Pull the bottom cover away from the drive while pushing in on the tabs to release the cover from the drive. Refer to Figure 6 for details. Refer to Figure 7 for drive models CIMR-V BA0006B to BA0018B, 2A0008B to 2A0069B, and 4A0001B to 4A0038B, which require removing the terminal cover prior to removing the bottom cover. V Figure 6 Remove the Bottom Cover on an IP20/Open-Chassis Drive (Models CIMR-V BA0001B to BA0003B and 2A0001B to 2A0006B) Figure 7 V Terminal cover Bottom cover Figure 7 Remove the Terminal Cover and Bottom Cover on an IP20/Open-Chassis Drive (Models CIMR-V BA0006B to BA0018B; 2A0008B to 2A0069B; 4A0001B to 4A0038B) 20 YASKAWA ELECTRIC TOBP C D 1000-Series Option SI-P3/V, SI-P3/T Installation Manual

21 5 Installation Procedure Figure 8 4. On IP20/Open-Chassis models, connect the drive side of the ground wire to the drive ground terminal. Note: The four different ground wires packaged with the option connect the option to different drive models. Select the proper ground wire depending on drive size. Refer to Table 7 on page 21 for ground wire selection by drive model. V Option unit connector Screw size: M3 Drive-side connector Screw size: M3.5 to M6 Ground terminal Ground wire Ground wire Figure 8 Connect the Ground Wire on an IP20/Open-Chassis Drive Table 7 Ground Wire Selection Ground Wire Length mm (in) 150 (5.9) 200 (7.9) Single-Phase 200 V Class BA0001 BA0002 BA0003 BA0006 BA0010 BA0012 BA (9.8) 400 (15.7) Drive Model CIMR-V Three-Phase 200 V Class 2A0001 2A0002 2A0004 2A0006 2A0010 2A0012 2A0020 2A0030 2A0040 2A0056 2A0069 Three-Phase 400 V Class 4A0001 4A0002 4A0004 4A0005 4A0007 4A0009 4A0011 4A0018 4A0023 4A0031 4A For IP20/Open-Chassis models, go to Step 9. on page 24. YASKAWA ELECTRIC TOBP C D 1000-Series Option SI-P3/V, SI-P3/T Installation Manual 21

22 5 Installation Procedure Figure 9 6. For IP20/NEMA Type 1 enclosure models CIMR-V A F, loosen the screw on the front of the NEMA Type 1 terminal cover and remove it from the drive. Refer to Figure 9 for details. Refer to Figure 10 for drive models CIMR-V BA0006F to BA0018F, 2A0008F to 2A0069F, and 4A0001F to 4A0038F, which require removing the plastic terminal cover prior to removing the NEMA Type 1 terminal cover. Note: Installing the option on an IP20/NEMA Type 1 enclosure drive voids NEMA Type 1 protection while maintaining IP20 conformity. V Figure 9 Remove the NEMA Type 1 Terminal Cover (Models CIMR-V BA0001F to BA0003F, 2A0001F to 2A0006F) Figure 10 V Figure 10 Remove the Terminal Cover on an IP20/NEMA Type 1 Drive (Models CIMR-V BA0006F to BA0018F; 2A0008F to 2A0069F; 4A0001F to 4A0038F) 22 YASKAWA ELECTRIC TOBP C D 1000-Series Option SI-P3/V, SI-P3/T Installation Manual

23 5 Installation Procedure Figure For models CIMR-V BA0001F to BA0003F, 2A0001F to 2A0006F, loosen the screws attaching the NEMA Type 1 conduit bracket to the drive to remove the NEMA Type 1 conduit bracket. Figure 12 Figure 11 Remove the NEMA Type 1 Conduit Bracket 8. On NEMA Type 1 enclosure models (CIMR-V BA0001F to BA0003F, 2A0001F to 2A0006F), the screw for the drive ground terminal also acts as one of the screws that attaches the NEMA Type 1 conduit bracket to the drive. Reattach the NEMA Type 1 conduit bracket according to Figure 12 and connect the drive-side of the ground wire to the drive ground terminal. Note: The four different ground wires packaged with the option connect the option to different drive models. Select the proper ground wire depending on drive size. Refer to Table 7 on page 21 for ground wire selection by drive model. V Drive ground terminal/ NEMA Type 1 conduit bracket screw Ground terminal Option unit connector Screw size: M3 Ground wire Drive-side connector Screw size: M3.5 to M6 Ground wire Figure 12 Reattach the NEMA Type 1 Conduit Bracket and Connect the Ground Wire for models CIMR-V BA0001F to BA0003F, 2A0001F to 2A0006F YASKAWA ELECTRIC TOBP C D 1000-Series Option SI-P3/V, SI-P3/T Installation Manual 23

24 5 Installation Procedure Figure Reattach the bottom cover. Keep the ground wire inside of the bottom cover when reattaching. V IP20/Open-Chassis IP20/NEMA Type 1 Enclosure Figure 13 Reattach the Bottom Cover 24 YASKAWA ELECTRIC TOBP C D 1000-Series Option SI-P3/V, SI-P3/T Installation Manual

25 5 Installation Procedure Figure On models CIMR-V BA0006 to BA0018, 2A0008 to 2A0069, and 4A0001 to 4A0038, reattach the terminal cover. Refer to Figure 14 and Figure 15 for drive models CIMR-V BA0006 to BA0018, 2A0008 to 2A0020, and 4A0001 to 4A0011, which require routing the ground wire through the provided notch when reinstalling the terminal cover. V Figure 14 Reattach the Terminal Cover (Models CIMR-V BA0006 to BA0018 ; 2A0008 to 2A0069 ; 4A0001 to 4A0038 ) Figure 15 V Ground wire routing notch Figure 15 Terminal Cover Ground Wire Notch (Models CIMR-V BA0006 to BA0018 ; 2A0008 to 2A0020 ; 4A0001 to 4A0011 ) YASKAWA ELECTRIC TOBP C D 1000-Series Option SI-P3/V, SI-P3/T Installation Manual 25

26 5 Installation Procedure Figure Remove the option cover and pass the ground wire through the inside of the drive bottom cover and into the through-hole for the ground wire at the front of the option. V Option cover Figure 16 Ground Wire Routing Figure Attach the option to the drive. Properly seat the tabs on the left and right sides of the option to the drive case. V Line up tabs Line up tabs Figure 17 Connect the Option 26 YASKAWA ELECTRIC TOBP C D 1000-Series Option SI-P3/V, SI-P3/T Installation Manual

27 5 Installation Procedure Figure Connect the ground wire at the option ground terminal. Tighten the screw to 0.5 to 0.6 N m or (4.4 to 5.3 in lbs) using an M3 Phillips screwdriver. V Option ground terminal Figure 18 Connect the Ground Wire to the Option 14. Select proper PROFIBUS-DP cables. Communication Cable Specifications To ensure proper performance, Yaskawa recommends using PROFIBUS-DPdedicated cables. Refer to the PROFIBUS-DP website at for more information on cables. Yaskawa recommends using PROFIBUS-DP cables suitable for the conditions listed in Table 8 and Table 9. Table 8 Communication Cable Requirements Condition Impedance Capacity Loop Resistance Core Cross-Section Core Diameter Specifications 135 to 165 Ω at a frequency of (3 to 20 MHz) 30 pf/m maximum 110 Ω/km maximum 0.34 mm 2 minimum 0.64 mm minimum YASKAWA ELECTRIC TOBP C D 1000-Series Option SI-P3/V, SI-P3/T Installation Manual 27

28 5 Installation Procedure Table 9 Communication Cable Length Communication Speed (kbps) Distance per Segment m (3937 ft.) m (3937 ft.) m (3937 ft.) m (3937 ft.) m (3280 ft.) m (1312 ft.) m (656 ft.) m (328 ft.) m (328 ft.) m (328 ft.) Figure 19 Connection Diagram Drive <1> To PROFIBUS-DP master To the next slave PROFIBUS cable (Red) (Green) (Red) (Green) 1B 1A 2B 2A PROFIBUS cable connector B-line A-line RTS VP DGND CN5 SI-P3/V FE (Shell) (Shell) Turn on the termination resistor switch for the last node on the bus Figure 19 Option Connection Diagram 9-pin D-sub connector <1> The ground wire provided in the option shipping package must be connected during installation. 28 YASKAWA ELECTRIC TOBP C D 1000-Series Option SI-P3/V, SI-P3/T Installation Manual

29 5 Installation Procedure Figure 20 PROFIBUS-DP Termination The option does not have a built-in termination resistor. The termination resistance must be set on the final drive in the network using a switch on the 9-pin D-sub connector. Make sure that only the connector for the final drive in the network has a termination resistor; communication problems may arise if any other network drive has a termination resistor. Use only the input side cable entry as shown in Figure 20 when connecting both ends of the network. Most 9-pin D-sub connectors have a function for disconnecting the output side of the cable. Communication will not be possible between devices if the connector is reversed. Most connectors have arrows indicating the input and output sides. 9-pin D-sub connector Bus termination Switch O O ON O OFF Incoming cable Outgoing cable Figure 20 PROFIBUS Cable Connection with Termination Resistors Bus termination ON = incoming and outgoing cables not connected. Bus termination OFF = incoming and outgoing cables connected. YASKAWA ELECTRIC TOBP C D 1000-Series Option SI-P3/V, SI-P3/T Installation Manual 29

30 5 Installation Procedure Figure 21 Termination resistors without inductors as shown in Figure 21 can only be used for baud rates below 1.5 Mbps. Baud rates 1.5 Mbps and higher require termination with resistors and inductors as shown in Figure 19. VP (pin 6) 390 Ω B - Data line RxD/TxD-P (pin 3) 220 Ω A - Data line RxD/TxD-N (pin 8) 390 Ω DGND (pin 5) Figure 21 Cable Termination of the Option Cable to EN50170 (Pin Numbers for a 9-pin D-sub Connector) 15. To connect the option to a network, firmly connect RJ45 8-pin Shielded Twisted Pair Cat5e cable(s) into the modular connector port. Note: Do not connect or disconnect the communication cable while the drive is powered up or while the drive is in operation. Failure to comply may cause a static discharge, which will cause the option card to stop working properly. Cycle power on the drive and option card to reestablish functionality. 16. After connecting the prepared cable for the 9-pin D-sub communication connector CN5, recheck the option wire routing performed in step Set drive parameters in Table 8 for proper option performance. Be sure to set parameter F6-30 to a node address unique to the network. GSD Files For easy network implementation of drives equipped with a PROFIBUS-DP Option, a GSD file can be obtained from: U.S.: Europe: Japan: Other areas: Contact a Yaskawa representative. 30 YASKAWA ELECTRIC TOBP C D 1000-Series Option SI-P3/V, SI-P3/T Installation Manual

31 6 Related Parameters 6 Related Parameters The following parameters are used to set up the drive for operation with the option. Confirm proper setting of all parameters in Table 10 before starting network communications. Table 10 Related Parameters No. (Addr. Hex) b1-01 (180) <1> b1-02 (181) <1> F6-01 (3A2) F6-02 (3A3) F6-03 (3A4) F6-07 (3A8) Name Description Values Frequency Reference Selection 1 Run Command Selection 1 Communications Error Operation Selection External Fault from Comm. Option Detection Selection External Fault from Comm. Option Operation Selection Multi-Step Speed Enable/Disable Selection when NefRef/ComRef is Selected Selects the frequency reference input source. 0: Operator - Digital preset speed d1-01 to d1-17 1: Terminals - Analog input terminal A1 or A2 2: MEMOBUS/Modbus communications 3: Option 4: Pulse Input (Terminal RP) Selects the run command input source. 0: Digital Operator - RUN and STOP keys 1: Digital input terminals S 2: MEMOBUS/Modbus communications 3: Option Determines drive response when a bus error is detected during communications with the option. 0: Ramp to Stop 1: Coast to Stop 2: Fast-Stop 3: Alarm Only <2> 4: Alarm and Run at d1-04 <2> <3> <4> 5: Alarm and Ramp to stop <3> <4> Sets the condition for external fault detection (EF0). 0: Always detected 1: Detected only during operation Determines drive response for external fault input (EF0) detection during PROFIBUS communication. 0: Ramp to Stop 1: Coast to Stop 2: Fast-Stop 3: Alarm Only <2> 0: Multi-step speed reference disabled (F7 functionality) 1: Multi-step speed reference allowed (V7 functionality) Default: 1 Range: 0 to 4 (Set to 3 for SI-P3) Default: 1 Range: 0 to 3 (Set to 3 for SI-P3) Default: 1 Range: 0 to 5 Default: 0 Range: 0, 1 Default: 1 Range: 0 to 3 Default: 0 Range: 0, 1 YASKAWA ELECTRIC TOBP C D 1000-Series Option SI-P3/V, SI-P3/T Installation Manual 31

32 6 Related Parameters No. (Addr. Hex) F6-08 (36A) F6-14 (3BB) <3> <5> F6-30 (3CB) <6> <7> F6-31 (3CC) F6-32 (3CD) <5> <7> F7-16 (3F4) <3> <5> F7-60 (780) <3> <5> F7-61 (781) <3> <5> F7-62 (780) <3> <5> F7-63 (783) <3> <5> F7-64 (784) <3> <5> Name Description Values Reset Communication Parameters bus Error Auto Reset PROFIBUS-DP Node Address PROFIBUS-DP Clear Mode Selection PROFIBUS-DP Data Format Selection Communication Loss Time-out PZD1 Write PZD2 Write PZD3 Write PZD4 Write PZD5 Write Determines which F6- and F7- parameters are reset to default values when initializing the drive using A : Do not reset parameters 1: Reset parameters Note: Setting this parameter does not affect communicationrelated parameters. Setting this parameter only determines if communication-related parameters (F6- and F7- ) are also reset when initializing with A1-03. Enables or disables the bus Error Auto Reset. 0: Disabled 1: Enabled Sets the node address. Selects the action to take when a Clear Mode command is received. 0: Resets to 0 1: Maintains the previous value 0: PPO Type 1: Conventional 2: PPO (w/bit 0) <3> <8> 3: PPO Type (Auto Enter) <3> <9> 4: Conventional (Auto Enter) <3> <9> 5: PPO (w/bit0, Auto Enter) <3> <8> <9> Sets the time-out value for communication loss detection in tenths of a second. A value of 0 disables the connection timeout. Example: An entered value of 100 represents 10.0 seconds. Sets MEMOBUS/Modbus address for PZD1 Write (PPO Write). The value of 0 to 2 enables the PZD1 Write as STW. Sets MEMOBUS/Modbus address for PZD2 Write (PPO Write). The value of 0 to 2 enables the PZD2 Write as HSW. Sets MEMOBUS/Modbus address for PZD3 Write (PPO Write). The value of 0 to 2 disables the PZD3 Write. Sets MEMOBUS/Modbus address for PZD4 Write (PPO Write). The value of 0 to 2 disables the PZD4 Write. Sets MEMOBUS/Modbus address for PZD5 Write (PPO Write). The value of 0 to 2 disables the PZD5 Write. Default: 0 Range: 0, 1 Default: 0 Range: 0, 1 Default: 0 Min: 0 Max: 125 Default: 0 Range: 0, 1 Default: 0 Range: 0 to 5 Default: 0.0 Min: 0.0 Max: 30.0 Default: 0H Min: 0H Max: FFFFH Default: 0H Min: 0H Max: FFFFH Default: 0H Min: 0H Max: FFFFH Default: 0H Min: 0H Max: FFFFH Default: 0H Min: 0H Max: FFFFH 32 YASKAWA ELECTRIC TOBP C D 1000-Series Option SI-P3/V, SI-P3/T Installation Manual

33 6 Related Parameters No. (Addr. Hex) F7-65 (785) <3> <5> F7-66 (786) <3> <5> F7-67 (787) <3> <5> F7-68 (788) <3> <5> F7-69 (789) <3> <5> F7-70 (78A) <3> <5> F7-71 (78B) <3> <5> F7-72 (78C) <3> <5> F7-73 (78D) <3> <5> F7-74 (78E) <3> <5> F7-75 (78F) <3> <5> F7-76 (790) <3> <5> F7-77 (791) <3> <5> F7-78 (792) <3> <5> Name Description Values PZD6 Write PZD7 Write PZD8 Write PZD9 Write PZD10 Write PZD1 Read PZD2 Read PZD3 Read PZD4 Read PZD5 Read PZD6 Read PZD7 Read PZD8 Read PZD9 Read Sets MEMOBUS/Modbus address for PZD6 Write (PPO Write). The value of 0 to 2 disables the PZD6 Write. Sets MEMOBUS/Modbus address for PZD7 Write (PPO Write). The value of 0 to 2 disables the PZD7 Write. Sets MEMOBUS/Modbus address for PZD8 Write (PPO Write). The value of 0 to 2 disables the PZD8 Write. Sets MEMOBUS/Modbus address for PZD9 Write (PPO Write). The value of 0 to 2 disables the PZD9 Write. Sets MEMOBUS/Modbus address for PZD10 Write (PPO Write). The value of 0 to 2 disables the PZD10 Write. Sets MEMOBUS/Modbus address for PZD1 Read (PPO Read). The value of 0 to 2 enables the PZD1 Read as ZSW. Sets MEMOBUS/Modbus address for PZD2 Read (PPO Read). The value of 0 to 2 enables the PZD2 Read as HIW. Sets MEMOBUS/Modbus address for PZD3 Read (PPO Read). The value of 0 to 2 disables the PZD3 Read. Sets MEMOBUS/Modbus address for PZD4 Read (PPO Read). The value of 0 to 2 disables the PZD4 Read. Sets MEMOBUS/Modbus address for PZD5 Read (PPO Read). The value of 0 to 2 disables the PZD5 Read. Sets MEMOBUS/Modbus address for PZD6 Read (PPO Read). The value of 0 to 2 disables the PZD6 Read. Sets MEMOBUS/Modbus address for PZD7 Read (PPO Read). The value of 0 to 2 disables the PZD7 Read. Sets MEMOBUS/Modbus address for PZD8 Read (PPO Read). The value of 0 to 2 disables the PZD8 Read. Sets MEMOBUS/Modbus address for PZD9 Read (PPO Read). The value of 0 to 2 disables the PZD9 Read. Default: 0H Min: 0H Max: FFFFH Default: 0H Min: 0H Max: FFFFH Default: 0H Min: 0H Max: FFFFH Default: 0H Min: 0H Max: FFFFH Default: 0H Min: 0H Max: FFFFH Default: 0H Min: 0H Max: FFFFH Default: 0H Min: 0H Max: FFFFH Default: 0H Min: 0H Max: FFFFH Default: 0H Min: 0H Max: FFFFH Default: 0H Min: 0H Max: FFFFH Default: 0H Min: 0H Max: FFFFH Default: 0H Min: 0H Max: FFFFH Default: 0H Min: 0H Max: FFFFH Default: 0H Min: 0H Max: FFFFH YASKAWA ELECTRIC TOBP C D 1000-Series Option SI-P3/V, SI-P3/T Installation Manual 33

34 6 Related Parameters No. (Addr. Hex) F7-79 (793) <3> <5> Name Description Values PZD10 Read Sets MEMOBUS/Modbus address for PZD10 Read (PPO Read). The value of 0 to 2 disables the PZD10 Read. Default: 0H Min: 0H Max: FFFFH <1> Set b1-02 to 3 to start and stop the drive through the PROFIBUS-DP network. Set b1-01 to 3 to control the frequency reference of the drive via the PROFIBUS-DP network. <2> Take proper safety measures, such as installing an emergency stop switch, when setting F6-03 to 3 or 4, as the drive will continue operation when detecting a fault. <3> Available in the V1000 software versions PRG: 1024 and later. <4> Refer to the instruction manual of a specific drive to determine if settings 4 and 5 are available in the drive. <5> Available in the option software versions PRG: 2103 and later. <6> All node addresses must be unique. Node addresses 0, 1, and 2 are typically reserved for control, maintenance, and diagnostic equipment. The Err LED will illuminate when a value of 0 or a value greater than 125 is entered. <7> Cycle power for setting changes to take effect. <8> Requires also setting bit 0 to 4 to issue Run command. Refer to the option Technical Manual for more information. <9> When writing this parameter to the drive through the PROFIBUS-DP network, the parameter is validated by automatically executing the Enter command. 34 YASKAWA ELECTRIC TOBP C D 1000-Series Option SI-P3/V, SI-P3/T Installation Manual

35 7 PROFIBUS-DP Option Data and I/O Maps 7 PROFIBUS-DP Option Data and I/O Maps Conventional Formats The configuration tool of PROFIBUS-DP master sets the input and output data length of PROFIBUS-DP Option from Extended Data 1 (32 bytes), Extended Data 2 (12 bytes), and Basic Data (6 bytes). Conventional formats have two message types: High-speed I/O Data and MEMOBUS/ Modbus message. Set parameter F6-32 to 1 to use conventional formats. High-Speed I/O Data High-speed I/O data is directly transferred to or from the drive and can control the drive. For example, when the drive is set for PROFIBUS-DP communications, the drive Run/Stop and Frequency Reference commands are typically transferred to the drive within 2 ms after being received by the option. MEMOBUS/Modbus Message MEMOBUS/Modbus message data is transferred to the drive using MEMOBUS/Modbus messages. All drive parameters and data can be accessed through MEMOBUS/Modbus. Because the data in this message type is transferred to the drive after the PROFIBUS-DP Option receives and edits it, more time is required to return the data to the master. The master must synchronize the timing of sending and receiving the data by handshaking. Memory Maps The following memory maps show the I/O data bytes. Basic and Extended Register Maps Basic Data (6 bytes) Extended Data 1 (32 bytes) Extended Data 2 (12 bytes) High-speed I/O Data Bytes 0 to 5 Bytes 0 to 15 Bytes 0 to 3 MEMOBUS/Modbus Data Bytes 16 to 31 Bytes 4 to 11 YASKAWA ELECTRIC TOBP C D 1000-Series Option SI-P3/V, SI-P3/T Installation Manual 35

36 7 PROFIBUS-DP Option Data and I/O Maps Byte Output (Master Device to Drive) Table 11 Basic Data Register Map Detail Table 12 Extended Data 1 Register Map Input (Drive to Master Device) Description Byte Description 0 Operation Command (High Byte) 0 Drive Status (High Byte) 1 Operation Command (Low Byte) 1 Drive Status (Low Byte) 2 Frequency Reference (High Byte) 2 Motor Speed (High Byte) <1> 3 Frequency Reference (Low Byte) 3 Motor Speed (Low Byte) <1> 4 4 Output Current (High Byte) <2> Reserved 5 5 Output Current (Low Byte) <2> <1> Unit depends on the setting of o1-03 (Digital Operator Display Scaling). When the drive is operating in the V/f Control mode, the drive's output frequency becomes the input data. <2> Data is displayed in units of either 0.01 A for drives 7.5 kw and smaller, or in units of 0.1 A for drives 11 kw and larger. This is the same regardless of whether the drive is set for Normal Duty or Heavy Duty operation. Output (Master Device to Drive) Input (Drive to Master Device) Byte Description Byte Description 0 Operation Command (High Byte) 0 Drive Status (High Byte) 1 Operation Command (Low Byte) 1 Drive Status (Low Byte) 2 Frequency Reference (High Byte) 2 Motor Speed (High Byte) <3> 3 Frequency Reference (Low Byte) 3 Motor Speed (Low Byte) <3> 4 4 Torque Reference Monitor (High Byte) <4> 5 5 Torque Reference Monitor (Low Byte) <4> 6 6 Reserved 7 7 Reserved 8 8 Frequency Reference (High Byte) 9 9 Frequency Reference (Low Byte) 10 Analog Output Channel 1 (High Byte) <1> 10 Output Frequency (High Byte) 11 Analog Output Channel 1 (Low Byte) <1> 11 Output Frequency (Low Byte) Output Current (High Byte) <5> Reserved Output Current (Low Byte) <5> 14 Digital Output (High Byte) <2> 14 Analog Input Channel 1 (High Byte) 15 Digital Output (Low Byte) <2> 15 Analog Input Channel 1 (Low Byte) 16 MEMOBUS/Modbus Function Code 16 MEMOBUS/Modbus Function Code 17 MEMOBUS/Modbus Starting Register Address (High Byte) 17 MEMOBUS/Modbus Starting Register Address (High Byte) 36 YASKAWA ELECTRIC TOBP C D 1000-Series Option SI-P3/V, SI-P3/T Installation Manual

37 7 PROFIBUS-DP Option Data and I/O Maps Output (Master Device to Drive) Input (Drive to Master Device) Byte Description Byte Description 18 MEMOBUS/Modbus Starting Register Address (Low Byte) 18 MEMOBUS/Modbus Starting Register Address (Low Byte) 19 MEMOBUS/Modbus Number of Data 19 MEMOBUS/Modbus Number of Data 20 MEMOBUS/Modbus Data 1 (High Byte) 20 MEMOBUS/Modbus Data 1 (High Byte) 21 MEMOBUS/Modbus Data 1 (Low Byte) 21 MEMOBUS/Modbus Data 1 (Low Byte) 22 MEMOBUS/Modbus Data 2 (High Byte) 22 MEMOBUS/Modbus Data 2 (High Byte) 23 MEMOBUS/Modbus Data 2 (Low Byte) 23 MEMOBUS/Modbus Data 2 (Low Byte) 24 MEMOBUS/Modbus Data 3 (High Byte) 24 MEMOBUS/Modbus Data 3 (High Byte) 25 MEMOBUS/Modbus Data 3 (Low Byte) 25 MEMOBUS/Modbus Data 3 (Low Byte) 26 MEMOBUS/Modbus Data 4 (High Byte) 26 MEMOBUS/Modbus Data 4 (High Byte) 27 MEMOBUS/Modbus Data 4 (Low Byte) 27 MEMOBUS/Modbus Data 4 (Low Byte) Reserved 29 Reserved Handshaking Register 31 Handshaking Register <1> To select drive analog output channel for communications, set H4-01 (Multi-Function Analog Output Terminal AM) to 000 (through-mode). <2> Drive digital output ON/OFF during communications, set H2-01 (Terminal MA, MB and MC Function Selection (relay)), H2-02 (Terminal P1 Function Selection (open-collector)), and H2-03 (Terminal P2 Function Selection (open-collector)) to F (through-mode). <3> Unit depends on the setting of o1-03 (Digital Operator Display Scaling). Input data is 0 when the drive is set for V/f Control. <4> Cannot be used when setting A1-02 (Control Method Selection) to 0 (V/f Control without PG). <5> Data is displayed in units of either 0.01 A for drives 7.5 kw and smaller, or in units of 0.1 A for drives 11 kw and larger. This is the same regardless of whether the drive is set for Normal Duty or Heavy Duty operation. YASKAWA ELECTRIC TOBP C D 1000-Series Option SI-P3/V, SI-P3/T Installation Manual 37

38 7 PROFIBUS-DP Option Data and I/O Maps Byte Output (Master Device Drive) Table 13 Extended Data 2 Register Map Input (Drive Master Device) Description Byte Description 0 Operation Command (High Byte) 0 Drive Status (High Byte) 1 Operation Command (Low Byte) 1 Drive Status (Low Byte) 2 Frequency Reference (High Byte) 2 Motor Speed (High Byte) <1> 3 Frequency Reference (Low Byte) 3 Motor Speed (Low Byte) <1> 4 MEMOBUS/Modbus Function Code 4 MEMOBUS/Modbus Function Code 5 6 MEMOBUS/Modbus Starting Register Address (High Byte) MEMOBUS/Modbus Starting Register Address (Low Byte) <1> Unit depends on the setting of o1-03 (Digital Operator Display Scaling). When the drive is operating in the V/f Control mode, the drive's output frequency becomes the input data. 5 6 MEMOBUS/Modbus Starting Register Address (High Byte) MEMOBUS/Modbus Starting Register Address (Low Byte) 7 MEMOBUS/Modbus Data Length 7 MEMOBUS/Modbus Data Length 8 MEMOBUS/Modbus Data 1 (High Byte) 8 MEMOBUS/Modbus Data 1 (High Byte) 9 MEMOBUS/Modbus Data 1 (Low Byte) 9 MEMOBUS/Modbus Data 1 (Low Byte) 10 Reserved 10 Reserved 11 Handshaking Register 11 Handshaking Register 38 YASKAWA ELECTRIC TOBP C D 1000-Series Option SI-P3/V, SI-P3/T Installation Manual

39 7 PROFIBUS-DP Option Data and I/O Maps Supported Parameter Process Data Object (PPO) Type Formats Set drive parameter F6-32 = 0 to use PPO type formats. The PPO is defined for cyclic data transfer, allowing the master and the slave to exchange process data (PZD) and parameters. Refer to the PROFIBUS specification for more information on PPO types 1 to 5. Refer to the PROFIBUS specification for more information on PPO types 1 to 5. PROFIBUS-DP Option supports five possible PPO type formats: PPO type 1 (8 octets PKW + 4 octets PZD) PPO type 2 (8 octets PKW + 12 octets PZD) PPO type 3 (4 octets PZD) PPO type 4 (12 octets PZD) PPO type 5 (8 octets PKW + 20 octets PZD) All PPO Types have the registers STW, ZSW, HSW, and HIW. These registers are not mapped directly to drive registers. PKW PZD PKE IND PWE PZD1 STW ZSW PZD2 HSW HIW PZD3 PZD4 PZD5 PZD6 PZD7 PZD8 PZD9 PZD10 PPO TYPE 1: Octet-String 12 PPO TYPE 2: Octet-String 20 PPO TYPE 3: Octet-String 4 PPO TYPE 4: Octet-String 12 PPO TYPE 5: Octet-String 28 PKW: Parameter ID/value PZD: Process Data, cyclically transferred PKE: Parameter ID (1st and 2nd octet) IND: Sub-index (3rd octet), 4th octet is reserved PWE: Parameter value (5th until 8th octet) STW: Control word HSW: Main setpoint ZSW: Status word HIW: Main actual value YASKAWA ELECTRIC TOBP C D 1000-Series Option SI-P3/V, SI-P3/T Installation Manual 39